mirror of
https://github.com/bulletphysics/bullet3
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59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
/*
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Bullet Continuous Collision Detection and Physics Library
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Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#include "BoxShape.h"
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SimdVector3 BoxShape::GetHalfExtents() const
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{
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return m_boxHalfExtents1 * m_localScaling;
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}
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//{
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void BoxShape::GetAabb(const SimdTransform& t,SimdVector3& aabbMin,SimdVector3& aabbMax) const
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{
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SimdVector3 halfExtents = GetHalfExtents();
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SimdMatrix3x3 abs_b = t.getBasis().absolute();
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SimdPoint3 center = t.getOrigin();
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SimdVector3 extent = SimdVector3(abs_b[0].dot(halfExtents),
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abs_b[1].dot(halfExtents),
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abs_b[2].dot(halfExtents));
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extent += SimdVector3(GetMargin(),GetMargin(),GetMargin());
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aabbMin = center - extent;
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aabbMax = center + extent;
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}
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void BoxShape::CalculateLocalInertia(SimdScalar mass,SimdVector3& inertia)
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{
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//float margin = 0.f;
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SimdVector3 halfExtents = GetHalfExtents();
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SimdScalar lx=2.f*(halfExtents.x());
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SimdScalar ly=2.f*(halfExtents.y());
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SimdScalar lz=2.f*(halfExtents.z());
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inertia[0] = mass/(12.0f) * (ly*ly + lz*lz);
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inertia[1] = mass/(12.0f) * (lx*lx + lz*lz);
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inertia[2] = mass/(12.0f) * (lx*lx + ly*ly);
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}
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